Resource management for robotic applications

Yi Zong Ou*, E. T.H. Chu, Wen Wei Lu, Jane W.S. Liu, Ta Chih Hung, Jwu-Sheng Hu

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents Robotic Application Resource Management Services (RARMS), a collection of tools for integrating reusable software components of a wide class of robotic applications on Microsoft Windows, a general-purpose, commodity operating system. RARMS includes (1) a resource allocation tool called RAAPT-HV for partitioning the available processors into a specified number of virtual processors, allocating available resources to virtual processors and assigning robotic software components to virtual processors and (2) a robot-class scheduling service (RC SS) which helps independently developed components prioritize relative to each other in a way that is consistent with their timing requirements. These tools aim to provide time-sensitive components with satisfactory responsiveness in an open environment without serious impact on the performance of other components. To demonstrate the effectiveness of RARMS, we adopted for experimentation and evaluation purposes several commonly-used components of delivery robots, including face detection, speech recognition, video streaming and path planning. The results of our experiments showed that these tools can help to achieve satisfactory performance for these software components of robotic applications.

Original languageEnglish
Title of host publicationProc. 10th IEEE Int. Conf. on Trust, Security and Privacy in Computing and Communications, TrustCom 2011, 8th IEEE Int. Conf. on Embedded Software and Systems, ICESS 2011, 6th Int. Conf. FCST 2011
Pages1210-1216
Number of pages7
DOIs
StatePublished - 1 Dec 2011
Event10th IEEE Int. Conf. on Trust, Security and Privacy in Computing and Communications, TrustCom 2011, 8th IEEE Int. Conf. on Embedded Software and Systems, ICESS 2011, 6th Int. Conf. on Frontier of Computer Science and Technology, FCST 2011 - Changsha, China
Duration: 16 Nov 201118 Nov 2011

Publication series

NameProc. 10th IEEE Int. Conf. on Trust, Security and Privacy in Computing and Communications, TrustCom 2011, 8th IEEE Int. Conf. on Embedded Software and Systems, ICESS 2011, 6th Int. Conf. on FCST 2011

Conference

Conference10th IEEE Int. Conf. on Trust, Security and Privacy in Computing and Communications, TrustCom 2011, 8th IEEE Int. Conf. on Embedded Software and Systems, ICESS 2011, 6th Int. Conf. on Frontier of Computer Science and Technology, FCST 2011
CountryChina
CityChangsha
Period16/11/1118/11/11

Keywords

  • Hypervisor
  • Real-time scheduling and resource management
  • Robotic software development tools

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  • Cite this

    Ou, Y. Z., Chu, E. T. H., Lu, W. W., Liu, J. W. S., Hung, T. C., & Hu, J-S. (2011). Resource management for robotic applications. In Proc. 10th IEEE Int. Conf. on Trust, Security and Privacy in Computing and Communications, TrustCom 2011, 8th IEEE Int. Conf. on Embedded Software and Systems, ICESS 2011, 6th Int. Conf. FCST 2011 (pp. 1210-1216). [6120956] (Proc. 10th IEEE Int. Conf. on Trust, Security and Privacy in Computing and Communications, TrustCom 2011, 8th IEEE Int. Conf. on Embedded Software and Systems, ICESS 2011, 6th Int. Conf. on FCST 2011). https://doi.org/10.1109/TrustCom.2011.163